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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file encoders.cpp

 * @brief Encoders

 *

 * Implementation of functions for encoder use.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 * @author Tom Mullins

 * @defgroup encoders Encoders

 * @brief Functions for using the encoders

 *

 * @{

 **/

#include <fstream>

#include <ros/ros.h>

#include "encoders.h"

/* Encoder instances */

/* @todo make sure these are the correct numbers */

static Encoder encoder_fl(0);

static Encoder encoder_fr(1);

static Encoder encoder_bl(2);

static Encoder encoder_br(3);

/**

 * @brief Encoder constructor

 *

 * Opens device file, which is read at every call to get_ticks

 *

 * @param n The encoder number to read, between 0 and 3 inclusive

 */

Encoder::Encoder(int n)

{

    sprintf(filename, "/sys/class/encoder/enc%d/ticks", n);

}

/**

 * @brief Returns the current tick count

 *

 * This will actually read from the encoder ticks file to get the latest value

 * from the driver

 */

int Encoder::get_ticks()

{

    // open device file

    std::fstream fticks(filename, std::ios::in);

    int ticks;

    fticks >> ticks;

    return ticks;

}

/**

 * @brief Resets the encoder

 *

 * Sets the encoder's ticks value back to 0

 */

void Encoder::reset()

{

    std::fstream fticks(filename, std::ios::out);

    fticks << 0;

}

/**

 * @brief Outputs current encoder data

 *

 * Serves the service query_encoders by responding to service requests with the

 * encoder values.

 * @param req The request. The units that the response should be in.

 * @param res The response. The fields will be filled with values.

 */

bool handle_encoders_query(::messages::query_encoders::Request  &req,

                           ::messages::query_encoders::Response &res)

{

    /* Put index, velocity, and distance data in message */

    res.fl_distance = -encoder_fl.get_ticks();

    res.fr_distance = encoder_fr.get_ticks();

    res.bl_distance = encoder_bl.get_ticks();

    res.br_distance = encoder_br.get_ticks();

    /* @todo maybe return value based on whether reads succeeded */

    ROS_DEBUG("Encoder values queried");

    ROS_INFO("Encoder values queried %d  %d  %d   %d", res.fl_distance, res.fr_distance, res.bl_distance, res.br_distance);

    return true;

}

/**

 * @brief Resets all four encoders

 *

 * Serves the service reset_encoders

 * @param req The request. Empty.

 * @param res The response. Empty.

 */

bool handle_reset_query(::messages::reset_encoders::Request &req,

                        ::messages::reset_encoders::Response &res)

{

    encoder_fl.reset();

    encoder_fr.reset();

    encoder_bl.reset();

    encoder_br.reset();

    return true;

}

/**

 * @brief Encoders driver. This is a ROS node that controls encoders.

 *

 * This is the main function for the encoders node. It is run when the node

 * starts and initializes the encoders. It then publishes to the

 * encoder_state topic and advertises the query_encoders service.

 */

int main(int argc, char **argv)

{

    /* Initialize in ROS the encoders driver node */

    ros::init(argc, argv, "encoders_driver");

    /* Advertise that this serves the query_encoders service */

    ros::NodeHandle n;

    ros::ServiceServer service =

        n.advertiseService("query_encoders",

                           handle_encoders_query);

    ROS_INFO("Ready to set encoders.");

    ros::spin();

    return 0;

}

/** @} */